Tag Archives: hand

#435773 Video Friday: Roller-Skating Quadruped ...

Video Friday is your weekly selection of awesome robotics videos, collected by your Automaton bloggers. We’ll also be posting a weekly calendar of upcoming robotics events for the next few months; here's what we have so far (send us your events!):

IEEE Africon 2019 – September 25-27, 2019 – Accra, Ghana
RoboBusiness 2019 – October 1-3, 2019 – Santa Clara, CA, USA
ISRR 2019 – October 6-10, 2019 – Hanoi, Vietnam
Ro-Man 2019 – October 14-18, 2019 – New Delhi, India
Humanoids 2019 – October 15-17, 2019 – Toronto, Canada
ARSO 2019 – October 31-1, 2019 – Beijing, China
ROSCon 2019 – October 31-1, 2019 – Macau
IROS 2019 – November 4-8, 2019 – Macau
Let us know if you have suggestions for next week, and enjoy today's videos.

We got a sneak peek of a new version of ANYmal equipped with actuated wheels for feet at the DARPA SubT Challenge, where it did surprisingly well at quickly and (mostly) robustly navigating some very tricky terrain. And when you're not expecting it to travel through a muddy, rocky, and dark tunnel, it looks even more capable:

[ Paper ]

Thanks Marko!

In Langley’s makerspace lab, researchers are developing a series of soft robot actuators to investigate the viability of soft robotics in space exploration and assembly. By design, the actuator has chambers, or air bladders, that expand and compress based on the amount of air in them.

[ NASA ]

I’m not normally a fan of the AdultSize RoboCup soccer competition, but NimbRo had a very impressive season.

I don’t know how it managed to not fall over at 45 seconds, but damn.

[ NimbRo ]

This is more AI than robotics, but that’s okay, because it’s totally cool.

I’m wondering whether the hiders ever tried another possibly effective strategy: trapping the seekers in a locked shelter right at the start.

[ OpenAI ]

We haven’t heard much from Piaggio Fast Forward in a while, but evidently they’ve still got a Gita robot going on, designed to be your personal autonomous caddy for absolutely anything that can fit into something the size of a portable cooler.

Available this fall, I guess?

[ Gita ]

This passively triggered robotic hand is startlingly fast, and seems almost predatory when it grabs stuff, especially once they fit it onto a drone.

[ New Dexterity ]

Thanks Fan!

Autonomous vehicles seem like a recent thing, but CMU has been working on them since the mid 1980s.

CMU was also working on drones back before drones were even really a thing:

[ CMU NavLab ] and [ CMU ]

Welcome to the most complicated and expensive robotic ice cream deployment system ever created.

[ Niska ]

Some impressive dexterity from a robot hand equipped with magnetic gears.

[ Ishikawa Senoo Lab ]

The Buddy Arduino social robot kit is now live on Kickstarter, and you can pledge for one of these little dudes for 49 bucks.

[ Kickstarter ]

Thanks Jenny!

Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and suitable control interfaces including an immersive telepresence suit and support-operator controls on different levels of autonomy.

[ CENTAURO ]

Thanks Sven!

Determined robots are the cutest robots.

[ Paper ]

The goal of the Dronument project is to create an aerial platform enabling interior and exterior documentation of heritage sites.

It’s got a base station that helps with localization, but still, flying that close to a chandelier in a UNESCO world heritage site makes me nervous.

[ Dronument ]

Thanks Fan!

Avast ye! No hornswaggling, lick-spittlering, or run-rigging over here – Only serious tech for devs. All hands hoay to check out Misty's capabilities and to build your own skills with plenty of heave ho! ARRRRRRRRGH…

International Talk Like a Pirate Day was yesterday, but I'm sure nobody will look at you funny if you keep at it today too.

[ Misty Robotics ]

This video presents an unobtrusive bimanual teleoperation setup with very low weight, consisting of two Vive visual motion trackers and two Myo surface electromyography bracelets. The video demonstrates complex, dexterous teleoperated bimanual daily-living tasks performed by the torque-controlled humanoid robot TORO.

[ DLR RMC ]

Lex Fridman interviews iRobot’s Colin Angle on the Artificial Intelligence Podcast.

Colin Angle is the CEO and co-founder of iRobot, a robotics company that for 29 years has been creating robots that operate successfully in the real world, not as a demo or on a scale of dozens, but on a scale of thousands and millions. As of this year, iRobot has sold more than 25 million robots to consumers, including the Roomba vacuum cleaning robot, the Braava floor mopping robot, and soon the Terra lawn mowing robot. 25 million robots successfully operating autonomously in people's homes to me is an incredible accomplishment of science, engineering, logistics, and all kinds of entrepreneurial innovation.

[ AI Podcast ]

This week’s CMU RI Seminar comes from CMU’s own Sarah Bergbreiter, on Microsystems-Inspired Robotics.

The ability to manufacture micro-scale sensors and actuators has inspired the robotics community for over 30 years. There have been huge success stories; MEMS inertial sensors have enabled an entire market of low-cost, small UAVs. However, the promise of ant-scale robots has largely failed. Ants can move high speeds on surfaces from picnic tables to front lawns, but the few legged microrobots that have walked have done so at slow speeds (< 1 body length/sec) on smooth silicon wafers. In addition, the vision of large numbers of microfabricated sensors interacting directly with the environment has suffered in part due to the brittle materials used in micro-fabrication. This talk will present our progress in the design of sensors, mechanisms, and actuators that utilize new microfabrication processes to incorporate materials with widely varying moduli and functionality to achieve more robustness, dynamic range, and complexity in smaller packages.

[ CMU RI ] Continue reading

Posted in Human Robots

#435765 The Four Converging Technologies Giving ...

How each of us sees the world is about to change dramatically.

For all of human history, the experience of looking at the world was roughly the same for everyone. But boundaries between the digital and physical are beginning to fade.

The world around us is gaining layer upon layer of digitized, virtually overlaid information—making it rich, meaningful, and interactive. As a result, our respective experiences of the same environment are becoming vastly different, personalized to our goals, dreams, and desires.

Welcome to Web 3.0, or the Spatial Web. In version 1.0, static documents and read-only interactions limited the internet to one-way exchanges. Web 2.0 provided quite an upgrade, introducing multimedia content, interactive web pages, and participatory social media. Yet, all this was still mediated by two-dimensional screens.

Today, we are witnessing the rise of Web 3.0, riding the convergence of high-bandwidth 5G connectivity, rapidly evolving AR eyewear, an emerging trillion-sensor economy, and powerful artificial intelligence.

As a result, we will soon be able to superimpose digital information atop any physical surrounding—freeing our eyes from the tyranny of the screen, immersing us in smart environments, and making our world endlessly dynamic.

In the third post of our five-part series on augmented reality, we will explore the convergence of AR, AI, sensors, and blockchain and dive into the implications through a key use case in manufacturing.

A Tale of Convergence
Let’s deconstruct everything beneath the sleek AR display.

It all begins with graphics processing units (GPUs)—electric circuits that perform rapid calculations to render images. (GPUs can be found in mobile phones, game consoles, and computers.)

However, because AR requires such extensive computing power, single GPUs will not suffice. Instead, blockchain can now enable distributed GPU processing power, and blockchains specifically dedicated to AR holographic processing are on the rise.

Next up, cameras and sensors will aggregate real-time data from any environment to seamlessly integrate physical and virtual worlds. Meanwhile, body-tracking sensors are critical for aligning a user’s self-rendering in AR with a virtually enhanced environment. Depth sensors then provide data for 3D spatial maps, while cameras absorb more surface-level, detailed visual input. In some cases, sensors might even collect biometric data, such as heart rate and brain activity, to incorporate health-related feedback in our everyday AR interfaces and personal recommendation engines.

The next step in the pipeline involves none other than AI. Processing enormous volumes of data instantaneously, embedded AI algorithms will power customized AR experiences in everything from artistic virtual overlays to personalized dietary annotations.

In retail, AIs will use your purchasing history, current closet inventory, and possibly even mood indicators to display digitally rendered items most suitable for your wardrobe, tailored to your measurements.

In healthcare, smart AR glasses will provide physicians with immediately accessible and maximally relevant information (parsed from the entirety of a patient’s medical records and current research) to aid in accurate diagnoses and treatments, freeing doctors to engage in the more human-centric tasks of establishing trust, educating patients and demonstrating empathy.

Image Credit: PHD Ventures.
Convergence in Manufacturing
One of the nearest-term use cases of AR is manufacturing, as large producers begin dedicating capital to enterprise AR headsets. And over the next ten years, AR will converge with AI, sensors, and blockchain to multiply manufacturer productivity and employee experience.

(1) Convergence with AI
In initial application, digital guides superimposed on production tables will vastly improve employee accuracy and speed, while minimizing error rates.

Already, the International Air Transport Association (IATA) — whose airlines supply 82 percent of air travel — recently implemented industrial tech company Atheer’s AR headsets in cargo management. And with barely any delay, IATA reported a whopping 30 percent improvement in cargo handling speed and no less than a 90 percent reduction in errors.

With similar success rates, Boeing brought Skylight’s smart AR glasses to the runway, now used in the manufacturing of hundreds of airplanes. Sure enough—the aerospace giant has now seen a 25 percent drop in production time and near-zero error rates.

Beyond cargo management and air travel, however, smart AR headsets will also enable on-the-job training without reducing the productivity of other workers or sacrificing hardware. Jaguar Land Rover, for instance, implemented Bosch’s Re’flekt One AR solution to gear technicians with “x-ray” vision: allowing them to visualize the insides of Range Rover Sport vehicles without removing any dashboards.

And as enterprise capabilities continue to soar, AIs will soon become the go-to experts, offering support to manufacturers in need of assembly assistance. Instant guidance and real-time feedback will dramatically reduce production downtime, boost overall output, and even help customers struggling with DIY assembly at home.

Perhaps one of the most profitable business opportunities, AR guidance through centralized AI systems will also serve to mitigate supply chain inefficiencies at extraordinary scale. Coordinating moving parts, eliminating the need for manned scanners at each checkpoint, and directing traffic within warehouses, joint AI-AR systems will vastly improve workflow while overseeing quality assurance.

After its initial implementation of AR “vision picking” in 2015, leading courier company DHL recently announced it would continue to use Google’s newest smart lens in warehouses across the world. Motivated by the initial group’s reported 15 percent jump in productivity, DHL’s decision is part of the logistics giant’s $300 million investment in new technologies.

And as direct-to-consumer e-commerce fundamentally transforms the retail sector, supply chain optimization will only grow increasingly vital. AR could very well prove the definitive step for gaining a competitive edge in delivery speeds.

As explained by Vital Enterprises CEO Ash Eldritch, “All these technologies that are coming together around artificial intelligence are going to augment the capabilities of the worker and that’s very powerful. I call it Augmented Intelligence. The idea is that you can take someone of a certain skill level and by augmenting them with artificial intelligence via augmented reality and the Internet of Things, you can elevate the skill level of that worker.”

Already, large producers like Goodyear, thyssenkrupp, and Johnson Controls are using the Microsoft HoloLens 2—priced at $3,500 per headset—for manufacturing and design purposes.

Perhaps the most heartening outcome of the AI-AR convergence is that, rather than replacing humans in manufacturing, AR is an ideal interface for human collaboration with AI. And as AI merges with human capital, prepare to see exponential improvements in productivity, professional training, and product quality.

(2) Convergence with Sensors
On the hardware front, these AI-AR systems will require a mass proliferation of sensors to detect the external environment and apply computer vision in AI decision-making.

To measure depth, for instance, some scanning depth sensors project a structured pattern of infrared light dots onto a scene, detecting and analyzing reflected light to generate 3D maps of the environment. Stereoscopic imaging, using two lenses, has also been commonly used for depth measurements. But leading technology like Microsoft’s HoloLens 2 and Intel’s RealSense 400-series camera implement a new method called “phased time-of-flight” (ToF).

In ToF sensing, the HoloLens 2 uses numerous lasers, each with 100 milliwatts (mW) of power, in quick bursts. The distance between nearby objects and the headset wearer is then measured by the amount of light in the return beam that has shifted from the original signal. Finally, the phase difference reveals the location of each object within the field of view, which enables accurate hand-tracking and surface reconstruction.

With a far lower computing power requirement, the phased ToF sensor is also more durable than stereoscopic sensing, which relies on the precise alignment of two prisms. The phased ToF sensor’s silicon base also makes it easily mass-produced, rendering the HoloLens 2 a far better candidate for widespread consumer adoption.

To apply inertial measurement—typically used in airplanes and spacecraft—the HoloLens 2 additionally uses a built-in accelerometer, gyroscope, and magnetometer. Further equipped with four “environment understanding cameras” that track head movements, the headset also uses a 2.4MP HD photographic video camera and ambient light sensor that work in concert to enable advanced computer vision.

For natural viewing experiences, sensor-supplied gaze tracking increasingly creates depth in digital displays. Nvidia’s work on Foveated AR Display, for instance, brings the primary foveal area into focus, while peripheral regions fall into a softer background— mimicking natural visual perception and concentrating computing power on the area that needs it most.

Gaze tracking sensors are also slated to grant users control over their (now immersive) screens without any hand gestures. Conducting simple visual cues, even staring at an object for more than three seconds, will activate commands instantaneously.

And our manufacturing example above is not the only one. Stacked convergence of blockchain, sensors, AI and AR will disrupt almost every major industry.

Take healthcare, for example, wherein biometric sensors will soon customize users’ AR experiences. Already, MIT Media Lab’s Deep Reality group has created an underwater VR relaxation experience that responds to real-time brain activity detected by a modified version of the Muse EEG. The experience even adapts to users’ biometric data, from heart rate to electro dermal activity (inputted from an Empatica E4 wristband).

Now rapidly dematerializing, sensors will converge with AR to improve physical-digital surface integration, intuitive hand and eye controls, and an increasingly personalized augmented world. Keep an eye on companies like MicroVision, now making tremendous leaps in sensor technology.

While I’ll be doing a deep dive into sensor applications across each industry in our next blog, it’s critical to first discuss how we might power sensor- and AI-driven augmented worlds.

(3) Convergence with Blockchain
Because AR requires much more compute power than typical 2D experiences, centralized GPUs and cloud computing systems are hard at work to provide the necessary infrastructure. Nonetheless, the workload is taxing and blockchain may prove the best solution.

A major player in this pursuit, Otoy aims to create the largest distributed GPU network in the world, called the Render Network RNDR. Built specifically on the Ethereum blockchain for holographic media, and undergoing Beta testing, this network is set to revolutionize AR deployment accessibility.

Alphabet Chairman Eric Schmidt (an investor in Otoy’s network), has even said, “I predicted that 90% of computing would eventually reside in the web based cloud… Otoy has created a remarkable technology which moves that last 10%—high-end graphics processing—entirely to the cloud. This is a disruptive and important achievement. In my view, it marks the tipping point where the web replaces the PC as the dominant computing platform of the future.”

Leveraging the crowd, RNDR allows anyone with a GPU to contribute their power to the network for a commission of up to $300 a month in RNDR tokens. These can then be redeemed in cash or used to create users’ own AR content.

In a double win, Otoy’s blockchain network and similar iterations not only allow designers to profit when not using their GPUs, but also democratize the experience for newer artists in the field.

And beyond these networks’ power suppliers, distributing GPU processing power will allow more manufacturing companies to access AR design tools and customize learning experiences. By further dispersing content creation across a broad network of individuals, blockchain also has the valuable potential to boost AR hardware investment across a number of industry beneficiaries.

On the consumer side, startups like Scanetchain are also entering the blockchain-AR space for a different reason. Allowing users to scan items with their smartphone, Scanetchain’s app provides access to a trove of information, from manufacturer and price, to origin and shipping details.

Based on NEM (a peer-to-peer cryptocurrency that implements a blockchain consensus algorithm), the app aims to make information far more accessible and, in the process, create a social network of purchasing behavior. Users earn tokens by watching ads, and all transactions are hashed into blocks and securely recorded.

The writing is on the wall—our future of brick-and-mortar retail will largely lean on blockchain to create the necessary digital links.

Final Thoughts
Integrating AI into AR creates an “auto-magical” manufacturing pipeline that will fundamentally transform the industry, cutting down on marginal costs, reducing inefficiencies and waste, and maximizing employee productivity.

Bolstering the AI-AR convergence, sensor technology is already blurring the boundaries between our augmented and physical worlds, soon to be near-undetectable. While intuitive hand and eye motions dictate commands in a hands-free interface, biometric data is poised to customize each AR experience to be far more in touch with our mental and physical health.

And underpinning it all, distributed computing power with blockchain networks like RNDR will democratize AR, boosting global consumer adoption at plummeting price points.

As AR soars in importance—whether in retail, manufacturing, entertainment, or beyond—the stacked convergence discussed above merits significant investment over the next decade. The augmented world is only just getting started.

Join Me
(1) A360 Executive Mastermind: Want even more context about how converging exponential technologies will transform your business and industry? Consider joining Abundance 360, a highly selective community of 360 exponentially minded CEOs, who are on a 25-year journey with me—or as I call it, a “countdown to the Singularity.” If you’d like to learn more and consider joining our 2020 membership, apply here.

Share this with your friends, especially if they are interested in any of the areas outlined above.

(2) Abundance-Digital Online Community: I’ve also created a Digital/Online community of bold, abundance-minded entrepreneurs called Abundance-Digital. Abundance-Digital is Singularity University’s ‘onramp’ for exponential entrepreneurs — those who want to get involved and play at a higher level. Click here to learn more.

This article originally appeared on Diamandis.com

Image Credit: Funky Focus / Pixabay Continue reading

Posted in Human Robots

#435752 T-RHex Is a Hexapod Robot With ...

In Aaron Johnson’s “Robot Design & Experimentation” class at CMU, teams of students have a semester to design and build an experimental robotic system based on a theme. For spring 2019, that theme was “Bioinspired Robotics,” which is definitely one of our favorite kinds of robotics—animals can do all kinds of crazy things, and it’s always a lot of fun watching robots try to match them. They almost never succeed, of course, but even basic imitation can lead to robots with some unique capabilities.

One of the projects from this year’s course, from Team ScienceParrot, is a new version of RHex called T-RHex (pronounced T-Rex, like the dinosaur). T-RHex comes with a tail, but more importantly, it has tiny tapered toes, which help it grip onto rough surfaces like bricks, wood, and concrete. It’s able to climb its way up very steep slopes, and hang from them, relying on its toes to keep itself from falling off.

T-RHex’s toes are called microspines, and we’ve seen them in all kinds of robots. The most famous of these is probably JPL’s LEMUR IIB (which wins on sheer microspine volume), although the concept goes back at least 15 years to Stanford’s SpinyBot. Robots that use microspines to climb tend to be fairly methodical at it, since the microspines have to be engaged and disengaged with care, limiting their non-climbing mobility.

T-RHex manages to perform many of the same sorts of climbing and hanging maneuvers without losing RHex’s ability for quick, efficient wheel-leg (wheg) locomotion.

If you look closely at T-RHex walking in the video, you’ll notice that in its normal forward gait, it’s sort of walking on its ankles, rather than its toes. This means that the microspines aren’t engaged most of the time, so that the robot can use its regular wheg motion to get around. To engage the microspines, the robot moves its whegs backwards, meaning that its tail is arguably coming out of its head. But since all of T-RHex’s capability is mechanical in nature and it has no active sensors, it doesn’t really need a head, so that’s fine.

The highest climbable slope that T-RHex could manage was 55 degrees, meaning that it can’t, yet, conquer vertical walls. The researchers were most surprised by the robot’s ability to cling to surfaces, where it was perfectly happy to hang out on a slope of 135 degrees, which is a 45 degree overhang (!). I have no idea how it would ever reach that kind of position on its own, but it’s nice to know that if it ever does, its spines will keep doing their job.

Photo: CMU

T-RHex uses laser-cut acrylic legs, with the microspines embedded into 3D-printed toes. The tail is needed to prevent the robot from tipping backward.

For more details about the project, we spoke with Team ScienceParrot member (and CMU PhD student) Catherine Pavlov via email.

IEEE Spectrum: We’re used to seeing RHex with compliant, springy legs—how do the new legs affect T-RHex’s mobility?

Catherine Pavlov: There’s some compliance in the legs, though not as much as RHex—this is driven by the use of acrylic, which was chosen for budget/manufacturing reasons. Matching the compliance of RHex with acrylic would have made the tines too weak (since often only a few hold the load of the robot during climbing). It definitely means you can’t use energy storage in the legs the way RHex does, for example when pronking. T-RHex is probably more limited by motor speed in terms of mobility though. We were using some borrowed Dynamixels that didn’t allow for good positioning at high speeds.

How did you design the climbing gait? Why not use the middle legs, and why is the tail necessary?

The gait was a lot of hand-tuning and trial-and-error. We wanted a left/right symmetric gait to enable load sharing among more spines and prevent out-of-plane twisting of the legs. When using all three pairs, you have to have very accurate angular positioning or one leg pair gets pushed off the wall. Since two legs should be able to hold the full robot gait, using the middle legs was hurting more than it was helping, with the middle legs sometimes pushing the rear ones off of the wall.

The tail is needed to prevent the robot from tipping backward and “sitting” on the wall. During static testing we saw the robot tip backward, disengaging the front legs, at around 35 degrees incline. The tail allows us to load the front legs, even when they’re at a shallow angle to the surface. The climbing gait we designed uses the tail to allow the rear legs to fully recirculate without the robot tipping backward.

Photo: CMU

Team ScienceParrot with T-RHex.

What prevents T-RHex from climbing even steeper surfaces?

There are a few limiting factors. One is that the tines of the legs break pretty easily. I think we also need a lighter platform to get fully vertical—we’re going to look at MiniRHex for future work. We’re also not convinced our gait is the best it can be, we can probably get marginal improvements with more tuning, which might be enough.

Can the microspines assist with more dynamic maneuvers?

Dynamic climbing maneuvers? I think that would only be possible on surfaces with very good surface adhesion and very good surface strength, but it’s certainly theoretically possible. The current instance of T-RHex would definitely break if you tried to wall jump though.

What are you working on next?

Our main target is exploring the space of materials for leg fabrication, such as fiberglass, PLA, urethanes, and maybe metallic glass. We think there’s a lot of room for improvement in the leg material and geometry. We’d also like to see MiniRHex equipped with microspines, which will require legs about half the scale of what we built for T-RHex. Longer-term improvements would be the addition of sensors e.g. for wall detection, and a reliable floor-to-wall transition and dynamic gait transitions.

[ T-RHex ] Continue reading

Posted in Human Robots

#435738 Boing Goes the Trampoline Robot

There are a handful of quadrupedal robots out there that are highly dynamic, with the ability to run and jump, but those robots tend to be rather expensive and complicated, requiring powerful actuators and legs with elasticity. Boxing Wang, a Ph.D. student in the College of Control Science and Engineering at Zhejiang University in China, contacted us to share a project he’s been working to investigate quadruped jumping with simple, affordable hardware.

“The motivation for this project is quite simple,” Boxing says. “I wanted to study quadrupedal jumping control, but I didn’t have custom-made powerful actuators, and I didn’t want to have to design elastic legs. So I decided to use a trampoline to make a normal servo-driven quadruped robot to jump.”

Boxing and his colleagues had wanted to study quadrupedal running and jumping, so they built this robot with the most powerful servos they had access to: Kondo KRS6003RHV actuators, which have a maximum torque of 6 Nm. After some simple testing, it became clear that the servos were simply not fast or powerful enough to get the robot to jump, and that an elastic element was necessary to store energy to help the robot get off the ground.

“Normally, people would choose elastic legs,” says Boxing. “But nobody in my lab knew for sure how to design them. If we tried making elastic legs and we failed to make the robot jump, we couldn’t be sure whether the problem was the legs or the control algorithms. For hardware, we decided that it’s better to start with something reliable, something that definitely won’t be the source of the problem.”

As it turns out, all you need is a trampoline, an inertial measurement unit (IMU), and little tactile switches on the end of each foot to detect touch-down and lift-off events, and you can do some useful jumping research without a jumping robot. And the trampoline has other benefits as well—because it’s stiffer at the edges than at the center, for example, the robot will tend to center itself on the trampoline, and you get some warning before things go wrong.

“I can’t say that it’s a breakthrough to make a quadruped robot jump on a trampoline,” Boxing tells us. “But I believe this is useful for prototype testing, especially for people who are interested in quadrupedal jumping control but without a suitable robot at hand.”

To learn more about the project, we emailed him some additional questions.

IEEE Spectrum: Where did this idea come from?

Boxing Wang: The idea of the trampoline came while we were drinking milk tea. I don’t know why it came up, maybe someone saw a trampoline in a gym recently. And I don’t remember who proposed it exactly. It was just like someone said it unintentionally. But I realized that a trampoline would be a perfect choice. It’s reliable, easy to buy, and should have a similar dynamic model with the one of jumping with springy legs (we have briefly analyzed this in a paper). So I decided to try the trampoline.

How much do you think you can learn using a quadruped on a trampoline, instead of using a jumping quadruped?

Generally speaking, no contact surfaces are strictly rigid. They all have elasticity. So there are no essential differences between jumping on a trampoline and jumping on a rigid surface. However, using a quadruped on a trampoline can give you more information on how to make use of elasticity to make jumping easier and more efficient. You can use quadruped robots with springy legs to address the same problem, but that usually requires much more time on hardware design.

We prefer to treat the trampoline experiment as a kind of early test for further real jumping quadruped design. Unless you’re interested in designing an acrobatic robot on a trampoline, a real jumping quadruped is probably a more useful application, and that is our ultimate goal. The point of the trampoline tests is to develop the control algorithms first, and to examine the stability of the general hardware structure. Due to the similarity between jumping on a trampoline with rigid legs and jumping on hard surfaces with springy legs, the control algorithms you develop could be transferred to hard-surface jumping robots.

“Unless you’re interested in designing an acrobatic robot on a trampoline, a real jumping quadruped is probably a more useful application, and that is our ultimate goal. The point of the trampoline tests is to develop the control algorithms first, and to examine the stability of the general hardware structure”

Do you think that this idea can be beneficial for other kinds of robotics research?

Yes. For jumping quadrupeds with springy legs, the control algorithms could be first designed through trampoline tests using simple rigid legs. And the hardware design for elastic legs could be accelerated with the help of the control algorithms you design. In addition, we believe our work could be a good example of using a position-control robot to realize dynamic motions such as jumping, or even running.

Unlike other dynamic robots, every active joint in our robot is controlled through commercial position-control servos and not custom torque control motors. Most people don’t think that a position-control robot could perform highly dynamic motions such as jumping, because position-control motors usually mean high a gear ratio and slow response. However, our work indicates that, with the help of elasticity, stable jumping could be realized through position-control servos. So for those who already have a position-control robot at hand, they could explore the potential of their robot through trampoline tests.

Why is teaching a robot to jump important?

There are many scenarios where a jumping robot is needed. For example, a real jumping quadruped could be used to design a running quadruped. Both experience moments when all four legs are in the air, and it is easier to start from jumping and then move to running. Specifically, hopping or pronking can easily transform to bounding if the pitch angle is not strictly controlled. A bounding quadruped is similar to a running rabbit, so for now it can already be called a running quadruped.

To the best of our knowledge, a practical use of jumping quadrupeds could be planet exploration, just like what SpaceBok was designed for. In a low-gravity environment, jumping is more efficient than walking, and it’s easier to jump over obstacles. But if I had a jumping quadruped on Earth, I would teach it to catch a ball that I throw at it by jumping. It would be fantastic!

That would be fantastic.

Since the whole point of the trampoline was to get jumping software up and running with a minimum of hardware, the next step is to add some springy legs to the robot so that the control system the researchers developed can be tested on hard surfaces. They have a journal paper currently under revision, and Boxing Wang is joined as first author by his adviser Chunlin Zhou, undergrads Ziheng Duan and Qichao Zhu, and researchers Jun Wu and Rong Xiong. Continue reading

Posted in Human Robots

#435683 How High Fives Help Us Get in Touch With ...

The human sense of touch is so naturally ingrained in our everyday lives that we often don’t notice its presence. Even so, touch is a crucial sensing ability that helps people to understand the world and connect with others. As the market for robots grows, and as robots become more ingrained into our environments, people will expect robots to participate in a wide variety of social touch interactions. At Oregon State University’s Collaborative Robotics and Intelligent Systems (CoRIS) Institute, I research how to equip everyday robots with better social-physical interaction skills—from playful high-fives to challenging physical therapy routines.

Some commercial robots already possess certain physical interaction skills. For example, the videoconferencing feature of mobile telepresence robots can keep far-away family members connected with one another. These robots can also roam distant spaces and bump into people, chairs, and other remote objects. And my Roomba occasionally tickles my toes before turning to vacuum a different area of the room. As a human being, I naturally interpret this (and other Roomba behaviors) as social, even if they were not intended as such. At the same time, for both of these systems, social perceptions of the robots’ physical interaction behaviors are not well understood, and these social touch-like interactions cannot be controlled in nuanced ways.

Before joining CoRIS early this year, I was a postdoc at the University of Southern California’s Interaction Lab, and prior to that, I completed my doctoral work at the GRASP Laboratory’s Haptics Group at the University of Pennsylvania. My dissertation focused on improving the general understanding of how robot control and planning strategies influence perceptions of social touch interactions. As part of that research, I conducted a study of human-robot hand-to-hand contact, focusing on an interaction somewhere between a high five and a hand-clapping game. I decided to study this particular interaction because people often high five, and they will likely expect robots in everyday spaces to high five as well!

I conducted a study of human-robot hand-to-hand contact, focusing on an interaction somewhere between a high five and a hand-clapping game. I decided to study this particular interaction because people often high five, and they will likely expect robots to high five as well!

The implications of motion and planning on the social touch experience in these interactions is also crucial—think about a disappointingly wimpy (or triumphantly amazing) high five that you’ve experienced in the past. This great or terrible high-fiving experience could be fleeting, but it could also influence who you interact with, who you’re friends with, and even how you perceive the character or personalities of those around you. This type of perception, judgement, and response could extend to personal robots, too!

An investigation like this requires a mixture of more traditional robotics research (e.g., understanding how to move and control a robot arm, developing models of the desired robot motion) along with techniques from design and psychology (e.g., performing interviews with research participants, using best practices from experimental methods in perception). Enabling robots with social touch abilities also comes with many challenges, and even skilled humans can have trouble anticipating what another person is about to do. Think about trying to make satisfying hand contact during a high five—you might know the classic adage “watch the elbow,” but if you’re like me, even this may not always work.

I conducted a research study involving eight different types of human-robot hand contact, with different combinations of the following: interactions with a facially reactive or non-reactive robot, a physically reactive or non-reactive planning strategy, and a lower or higher robot arm stiffness. My robotic system could become facially reactive by changing its facial expression in response to hand contact, or physically reactive by updating its plan of where to move next after sensing hand contact. The stiffness of the robot could be adjusted by changing a variable that controlled how quickly the robot’s motors tried to pull its arm to the desired position. I knew from previous research that fine differences in touch interactions can have a big impact on perceived robot character. For example, if a robot grips an object too tightly or for too long while handing an object to a person, it might be perceived as greedy, possessive, or perhaps even Sméagol-like. A robot that lets go too soon might appear careless or sloppy.

In the example cases of robot grip, it’s clear that understanding people’s perceptions of robot characteristics and personality can help roboticists choose the right robot design based on the proposed operating environment of the robot. I likewise wanted to learn how the facial expressions, physical reactions, and stiffness of a hand-clapping robot would influence human perceptions of robot pleasantness, energeticness, dominance, and safety. Understanding this relationship can help roboticists to equip robots with personalities appropriate for the task at hand. For example, a robot assisting people in a grocery store may need to be designed with a high level of pleasantness and only moderate energy, while a maximally effective robot for comedy roast battles may need high degrees of energy and dominance above all else.

After many a late night at the GRASP Lab clapping hands with a big red robot, I was ready to conduct the study. Twenty participants visited the lab to clap hands with our Baxter Research Robot and help me begin to understand how characteristics of this humanoid robot’s social touch influenced its pleasantness, energeticness, dominance, and apparent safety. Baxter interacted with participants using a custom 3D-printed hand that was inlaid with silicone inserts.

The study showed that a facially reactive robot seemed more pleasant and energetic. A physically reactive robot seemed less pleasant, energetic, and dominant for this particular study design and interaction. I thought contact with a stiffer robot would seem harder (and therefore more dominant and less safe), but counter to my expectations, a stiffer-armed robot seemed safer and less dominant to participants. This may be because the stiffer robot was more precise in following its pre-programmed trajectory, therefore seeming more predictable and less free-spirited.

Safety ratings of the robot were generally high, and several participants commented positively on the robot’s facial expressions. Some participants attributed inventive (and non-existent) intelligences to the robot—I used neither computer vision nor the Baxter robot’s cameras in this study, but more than one participant complimented me on how well the robot tracked their hand position. While interacting with the robot, participants displayed happy facial expressions more than any other analyzed type of expression.

Photo: Naomi Fitter

Participants were asked to clap hands with Baxter and describe how they perceived the robot in terms of its pleasantness, energeticness, dominance, and apparent safety.

Circling back to the idea of how people might interpret even rudimentary and practical robot behaviors as social, these results show that this type of social perception isn’t just true for my lovable (but sometimes dopey) Roomba, but also for collaborative industrial robots, and generally, any robot capable of physical human-robot interaction. In designing the motion of Baxter, the adjustment of a single number in the equation that controls joint stiffness can flip the robot from seeming safe and docile to brash and commanding. These implications are sometimes predictable, but often unexpected.

The results of this particular study give us a partial guide to manipulating the emotional experience of robot users by adjusting aspects of robot control and planning, but future work is needed to fully understand the design space of social touch. Will materials play a major role? How about personalized machine learning? Do results generalize over all robot arms, or even a specialized subset like collaborative industrial robot arms? I’m planning to continue answering these questions, and when I finally solve human-robot social touch, I’ll high five all my robots to celebrate.

Naomi Fitter is an assistant professor in the Collaborative Robotics and Intelligent Systems (CoRIS) Institute at Oregon State University, where her Social Haptics, Assistive Robotics, and Embodiment (SHARE) research group aims to equip robots with the ability to engage and empower people in interactions from playful high-fives to challenging physical therapy routines. She completed her doctoral work in the GRASP Laboratory’s Haptics Group and was a postdoctoral scholar in the University of Southern California’s Interaction Lab from 2017 to 2018. Naomi’s not-so-secret pastime is performing stand-up and improv comedy. Continue reading

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